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58
Applications of Random Sampling in Computational Geometry, II
 Discrete Comput. Geom
, 1995
"... We use random sampling for several new geometric algorithms. The algorithms are "Las Vegas," and their expected bounds are with respect to the random behavior of the algorithms. These algorithms follow from new general results giving sharp bounds for the use of random subsets in geometric algorithms ..."
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Cited by 389 (12 self)
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We use random sampling for several new geometric algorithms. The algorithms are "Las Vegas," and their expected bounds are with respect to the random behavior of the algorithms. These algorithms follow from new general results giving sharp bounds for the use of random subsets in geometric algorithms. These bounds show that random subsets can be used optimally for divideandconquer, and also give bounds for a simple, general technique for building geometric structures incrementally. One new algorithm reports all the intersecting pairs of a set of line segments in the plane, and requires O(A + n log n) expected time, where A is the number of intersecting pairs reported. The algorithm requires O(n) space in the worst case. Another algorithm computes the convex hull of n points in E d in O(n log n) expected time for d = 3, and O(n bd=2c ) expected time for d ? 3. The algorithm also gives fast expected times for random input points. Another algorithm computes the diameter of a set of n...
Simulation of Simplicity: A Technique to Cope with Degenerate Cases in Geometric Algorithms
 ACM TRANS. GRAPH
, 1990
"... This paper describes a generalpurpose programming technique, called the Simulation of Simplicity, which can be used to cope with degenerate input data for geometric algorithms. It relieves the programmer from the task to provide a consistent treatment for every single special case that can occur. T ..."
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Cited by 277 (21 self)
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This paper describes a generalpurpose programming technique, called the Simulation of Simplicity, which can be used to cope with degenerate input data for geometric algorithms. It relieves the programmer from the task to provide a consistent treatment for every single special case that can occur. The programs that use the technique tend to be considerably smaller and more robust than those that do not use it. We believe that this technique will become a standard tool in writing geometric software.
Voronoi Diagrams and Delaunay Triangulations
 Computing in Euclidean Geometry
, 1992
"... The Voronoi diagram is a fundamental structure in computationalgeometry and arises naturally in many different fields. This chapter surveys properties of the Voronoi diagram and its geometric dual, the Delaunay triangulation. The emphasis is on practical algorithms for the construction of Voronoi ..."
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Cited by 195 (3 self)
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The Voronoi diagram is a fundamental structure in computationalgeometry and arises naturally in many different fields. This chapter surveys properties of the Voronoi diagram and its geometric dual, the Delaunay triangulation. The emphasis is on practical algorithms for the construction of Voronoi diagrams. 1 Introduction Let S be a set of n points in ddimensional euclidean space E d . The points of S are called sites. The Voronoi diagram of S splits E d into regions with one region for each site, so that the points in the region for site s2S are closer to s than to any other site in S. The Delaunay triangulation of S is the unique triangulation of S so that there are no elements of S inside the circumsphere of any triangle. Here `triangulation' is extended from the planar usage to arbitrary dimension: a triangulation decomposes the convex hull of S into simplices using elements of S as vertices. The existence and uniqueness of the Delaunay triangulation are perhaps not obvio...
Towards Exact Geometric Computation
, 1994
"... Exact computation is assumed in most algorithms in computational geometry. In practice, implementors perform computation in some fixedprecision model, usually the machine floatingpoint arithmetic. Such implementations have many wellknown problems, here informally called "robustness issues". To rec ..."
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Cited by 88 (6 self)
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Exact computation is assumed in most algorithms in computational geometry. In practice, implementors perform computation in some fixedprecision model, usually the machine floatingpoint arithmetic. Such implementations have many wellknown problems, here informally called "robustness issues". To reconcile theory and practice, authors have suggested that theoretical algorithms ought to be redesigned to become robust under fixedprecision arithmetic. We suggest that in many cases, implementors should make robustness a nonissue by computing exactly. The advantages of exact computation are too many to ignore. Many of the presumed difficulties of exact computation are partly surmountable and partly inherent with the robustness goal. This paper formulates the theoretical framework for exact computation based on algebraic numbers. We then examine the practical support needed to make the exact approach a viable alternative. It turns out that the exact computation paradigm encomp...
Robust Geometric Computation
, 1997
"... Nonrobustness refers to qualitative or catastrophic failures in geometric algorithms arising from numerical errors. Section... ..."
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Cited by 72 (11 self)
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Nonrobustness refers to qualitative or catastrophic failures in geometric algorithms arising from numerical errors. Section...
An optimal algorithm for intersecting threedimensional convex polyhedra
 SIAM J. Comput
, 1992
"... Abstract. This paper describes a lineartime algorithm for computing the intersection of two convex polyhedra in 3space. Applications of this result to computing intersections, convex hulls, and Voronoi diagrams are also given. Key words, computational geometry, convex polyhedra AMS(MOS) subject cl ..."
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Cited by 61 (4 self)
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Abstract. This paper describes a lineartime algorithm for computing the intersection of two convex polyhedra in 3space. Applications of this result to computing intersections, convex hulls, and Voronoi diagrams are also given. Key words, computational geometry, convex polyhedra AMS(MOS) subject classifications. 68Q25, 68H05 1. Introduction. Giventwo
Quantitative Steinitz's Theorems with Applications to Multifingered Grasping
 in Proc. 20th ACM Symposium on Theory of Computing
, 1989
"... We prove the following quantitative form of a classical theorem of Steinitz: Let m be sufficiently large. If the convex hull of a subset S of Euclidean dspace contains a unit ball centered on the origin then there is a subset of S with at most m points whose convex hull contains a solid ball als ..."
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Cited by 59 (7 self)
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We prove the following quantitative form of a classical theorem of Steinitz: Let m be sufficiently large. If the convex hull of a subset S of Euclidean dspace contains a unit ball centered on the origin then there is a subset of S with at most m points whose convex hull contains a solid ball also centered on the origin and having residual radius 1 \Gamma 3d / 2d 2 m ! 2 d\Gamma1 : The case m = 2d was first considered by B'ar'any, Katchalski and Pach (1982). We also show an upper bound on the achievable radius: the residual radius must be less than 1 \Gamma 1 17 / 2d 2 m ! 2 d\Gamma1 : These results have applications in the problem of computing the socalled closure grasps by an mfingered robot hand. The above quantitative form of Steinitz's theorem gives a notion of efficiency for closure grasps. The theorem also gives rise to some new problems in computational geometry. We present some efficient algorithms for these problems, especially in the two dim...
Shapes And Implementations In ThreeDimensional Geometry
, 1993
"... Frequently, data in scientific computing is in its abstract form a finite point set in space, and it is often useful or required to compute what one might call the "shape" of the set. For that purpose, this thesis deals with the formal notion of the family of alpha shapes of a finite point set in th ..."
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Cited by 37 (5 self)
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Frequently, data in scientific computing is in its abstract form a finite point set in space, and it is often useful or required to compute what one might call the "shape" of the set. For that purpose, this thesis deals with the formal notion of the family of alpha shapes of a finite point set in three dimensional space. Each shape is a welldefined polytope, derived from the Delaunay triangulation of the point set, with a real parameter controlling the desired level of detail. Algorithms and data structures are presented that construct and store the entire family of shapes, with a quadratic time and space complexity, in the worst case.
An Efficient Approach to Removing Geometric Degeneracies (Extended Abstract)
, 1992
"... Our aim is to perturb the input so that an algorithm designed under the hypothesis of input nondegeneracy can execute on arbitrary instances. The deterministic scheme of [EmCa] was the first efficient method and was applied to two important predicates. Here it is extended in a consistent manner to ..."
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Cited by 35 (4 self)
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Our aim is to perturb the input so that an algorithm designed under the hypothesis of input nondegeneracy can execute on arbitrary instances. The deterministic scheme of [EmCa] was the first efficient method and was applied to two important predicates. Here it is extended in a consistent manner to another two common predicates, thus making it valid for most algorithms in computational geometry. It is shown that this scheme incurs no extra algebraic complexity over the original algorithm while it increases the bit complexity by a factor roughly proportional to the dimension of the geometric space. The second contribution of this paper is a variant scheme for a restricted class of algorithms that is asymptotically optimal with respect to the algebraic as well as the bit complexity. Both methods are simple to implement and require no symbolic computation. They also conform to certain criteria ensuring that the solution to the original input can be restored from the output on the perturbed input. This is immediate when the input to solution mapping obeys a continuity property and requires some casespecific work otherwise. Finally we discuss extensions and limitations to our approach.